Vision-Based Locomotion Control for Humanoid Robots: A Study on Vision-Guided Walking Strategies

Pandey, Saroj Kumar; Kumar, Lalan; Kumar, Gaurav; Kumar, Ankit; Singh, Kamred Udham; Singh, Teekam

doi:10.1109/cises58720.2023.10183471

2023 International Conference on Computational Intelligence and Sustainable Engineering Solutions (CISES) 2023

DOI: 10.1109/cises58720.2023.10183471

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Vision-Based Locomotion Control for Humanoid Robots: A Study on Vision-Guided Walking Strategies

Saroj Kumar Pandey

Lalan Kumar²,

Gaurav Kumar

et al.

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2024

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Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics

Liu,

Ye,

Shi

et al. 2024

Sensors

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In this paper, a practical discrete-time control method with adaptive image feature prediction for the image-based visual servoing (IBVS) scheme is presented. In the discrete-time IBVS inner-loop/outer-loop control architecture, the time delay caused by image capture and computation is noticed. Considering the dynamic characteristics of a 6-DOF manipulator velocity input system, we propose a linear dynamic model to describe the motion of a robot end effector. Furthermore, for better estimation of image features and smoothing of the robot’s velocity input, we propose an adaptive image feature prediction method that employs past image feature data and real robot velocity data to adopt the prediction parameters. The experimental results on a 6-DOF robotic arm demonstrate that the proposed method can ensure system stability and accelerate system convergence.

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Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics

Liu,

Ye,

Shi

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

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Vision-Based Locomotion Control for Humanoid Robots: A Study on Vision-Guided Walking Strategies

Cited by 1 publication

References 9 publications

Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics

Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics

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